共查询到20条相似文献,搜索用时 500 毫秒
1.
Hwa Chang Sung Jin Bae Park Young Hoon Joo 《International Journal of Control, Automation and Systems》2014,12(3):486-496
This paper suggests a solution for a robust digital implementation of the output-feedback control system by utilizing intelligent digital redesign (IDR). The general IDR method involves designing a digital fuzzy controller which is comparable to a pre-designed analog one via state-matching. However, under containing the parametric uncertainties, the new problem about the structural property of the uncertainties is inevitably occurred in the procedure of discretization. For solving that, we use the bilinear and inverse-bilinear approximation method and the concerned IDR is viewed as a convex minimization problem of the norm distances between linear operators to be matched. Also, we consider the state estimation error in the plant dynamics so that we attempt to improve the control performance. The robust stability property is preserved by the proposed IDR method and its condition is represented in terms of linear matrix inequalities (LMIs). The simulation results for permanent magnet synchronous motor (PMSM) system are demonstrated to visualize the feasibility of the proposed method. 相似文献
2.
Chan-Tang Hsu Author Vitae 《Automatica》2003,39(2):291-298
Cost-down is one of the major challenges for active magnetic bearing (AMB) systems in industry today. An AMB system with three magnetic poles is proposed and studied in this work. Compared to the popular 8-pole AMB, the 3-pole system requires fewer power amplifiers, which can reduce the overall cost. The primary problem in the 3-pole AMB is the strong coupling in the magnetic flux between magnetic poles. Consequently, the system is strongly nonlinear not only in states but also in control inputs. In particular, the input currents enter the system model in a quadratic form. The feedback linearization problem for this non-affine nonlinear system is solved. Then, the integral sliding mode control method is incorporated to yield a robust nonlinear controller for the 3-pole AMB system. It is found through simulations and experiments that the proposed controller can achieve stability and high steady-state accuracy even under the influence of large uncertainties. 相似文献
3.
Geun Bum Koo Jin Bae Park Young Hoon Joo 《International Journal of Control, Automation and Systems》2013,11(6):1075-1083
In this paper, a novel intelligent digital redesign (IDR) technique using the guaranteed cost control method is proposed for nonlinear systems which can be represented by a Takagi-Sugeno (T-S) fuzzy model. The IDR technique, which is one of the sampled-data fuzzy controller design methods, guarantees not only the stability condition of the sampled-data closed-loop system with the sampleddata fuzzy controller and the state-matching error is presented. By using the concept of the guaranteed cost control method, sufficient conditions are obtained for both minimization of the state-matching error and stabilization of the sampled-data closed-loop system and derived in terms of linear matrix inequalities (LMIs). Finally, a numerical example is provided to verify the effectiveness of the proposed technique. 相似文献
4.
Hwa Chang Sung Jin Bae Park Young Hoon Joo 《International Journal of Control, Automation and Systems》2011,9(6):1103-1110
In this paper, the output-feedback control for stabilizing the uncertain nonlinear system is proposed. For achieving the robust
stability, we deal with the parametric uncertainties of the concerned system which is based on the Takagi-Sugeno (T-S) fuzzy
model. Also, we derive the observer-based models preserving the property and structure of the uncertainties. The sufficient
conditions for output feedback stabilizing controller designs are given in terms of solutions to a set of linear matrix inequalities
(LMIs). The simulation results for variable speed wind power (VSWP) system are demonstrated to visualize the feasibility of
the proposed method. 相似文献
5.
This paper addresses an effective digital implementation of fuzzy control systems via an intelligent digital redesign (IDR) approach. The purpose of IDR is to effectively convert an existing continuous-time fuzzy controller to an equivalent sampled-data fuzzy controller in the sense of the state-matching. The authors show that, under reasonable assumptions, the IDR based on the exact discrete-time models can be reduced to the IDR based on the approximate discrete-time models. The state-matching error between the closed-loop trajectories is carefully analyzed using the integral quadratic functional approach. The estimation of the state-matching error is presented using the linear matrix inequality (LMI) techniques. The problem of designing the sampled-data fuzzy controller to minimize the estimation as well as to guarantee the stability is formulated and solved as the convex optimization problem with LMI constraints. It is also shown that the resulting sampled-data fuzzy controller recovers the performance of the continuous-time fuzzy controller as the sampling period approaches zero. A numerical example is used to demonstrate the effectiveness of the proposed design technique. 相似文献
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Ho Jun Kim Jin Bae Park Young Hoon Joo 《International Journal of Control, Automation and Systems》2017,15(2):603-610
This paper presents a fuzzy filter design method for nonlinear sampled-data systems using an intelligent digital redesign (IDR) technique. Based on a Takagi–Sugeno (T–S) fuzzy model, discretized closed-loop systems with pre-designed analog fuzzy and digital fuzzy filters are presented. An IDR problem is given to guarantee both state-matching condition and asymptotic stability. Sufficient conditions for solving the IDR problem are proposed and are derived in terms of linear matrix inequalities (LMIs). Finally, a simulation example is given to show the effectiveness of the proposed method. 相似文献
8.
In this paper, we present a design method of the optimal and robust controller subject to the constraint on control inputs for continuous-time Takagi-Sugeno (TS) fuzzy systems. In order to establish this design method, we consider an optimal and robust control problem for nonlinear dynamic systems. For this problem, we present an analytic way which can provide the optimal controller for nonlinear dynamic systems by the dynamic programming approach and the inverse optimal approach. Moreover, we analyze the robustness property of the proposed optimal controller with respect to a class of input uncertainties by the passivity approach. Then, based on the theoretical results presented in this paper, we formulate the design problem of the optimal and robust controller with input constraint for continuous-time TS fuzzy systems as the semidefinite programming problem, and find the controller by solving it. The usefulness of the proposed approach is illustrated by considering the three-axis attitude stabilization problem of rigid spacecraft. 相似文献
9.
Robust Stability Analysis of Smith Predictor Based Interval Fractional-Order Control Systems: A Case Study in Level Control Process 下载免费PDF全文
Majid Ghorbani Mahsan Tavakoli-Kakhki Aleksei Tepljakov Eduard Petlenkov 《IEEE/CAA Journal of Automatica Sinica》2023,10(3):762-780
The robust stability study of the classic Smith predictor-based control system for uncertain fractional-order plants with interval time delays and interval coefficients is the emphasis of this work. Interval uncertainties are a type of parametric uncertainties that cannot be avoided when modeling real-world plants. Also, in the considered Smith predictor control structure it is supposed that the controller is a fractional-order proportional integral derivative (FOPID) controller. To the best of the authors’ knowledge, no method has been developed until now to analyze the robust stability of a Smith predictor based fractional-order control system in the presence of the simultaneous uncertainties in gain, time-constants, and time delay. The three primary contributions of this study are as follows: i) a set of necessary and sufficient conditions is constructed using a graphical method to examine the robust stability of a Smith predictor-based fractional-order control system—the proposed method explicitly determines whether or not the FOPID controller can robustly stabilize the Smith predictor-based fractional-order control system; ii) an auxiliary function as a robust stability testing function is presented to reduce the computational complexity of the robust stability analysis; and iii) two auxiliary functions are proposed to achieve the control requirements on the disturbance rejection and the noise reduction. Finally, four numerical examples and an experimental verification are presented in this study to demonstrate the efficacy and significance of the suggested technique. 相似文献
10.
Robust adaptive control for interval time-delay systems 总被引:3,自引:0,他引:3
1 Introduction The problem of time-delay is commonly encountered in various engineering systems, such as electric, pneumatic and hydraulic networks, long transmission lines, etc., and it is also a great source of systems instability and poor perfor- mance. During the last decades, we have seen an increasing interest for the control of this class of systems and many results have reported in the literature [1~5]. On the other hand, it has been recognized that nonlinear uncertainties are unavoid… 相似文献
11.
In this paper, a simple structure design with arbitrary motion/force scaling to control teleoperation systems, with model
mismatches is presented. The goal of this paper is to achieve transparency in presence of uncertainties. The master–slave
systems are approximated by linear dynamic models with perturbed parameters, which is called the model mismatch. Moreover,
the time delay in communication channel with uncertainties is considered. The stability analysis will be considered for two
cases: (1) stability under time delay uncertainties and (2) stability under model mismatches. For the first case, two local
controllers are designed. The first controller is responsible for tracking the master commands, while the second controller
is in charge of force tracking as well as guaranteeing stability of the overall closed-loop system. In the second case, an
additional term will be added to the control law to provide robustness to the closed-loop system. Moreover, in this case,
the local slave controller guarantees the position tracking and the local master controller guarantees stability of the inner
closed-loop system. The advantages of the proposed method are two folds: (1) robust stability of the system against model
mismatches is guaranteed and (2) structured system uncertainties are well compensated by applying independent controllers
to the master and the slave sites. Simulation results show good performance of the proposed method in motion tracking as well
force tracking in presence of model mismatches and time delay uncertainties. 相似文献
12.
In this paper, we propose an LMI-based design method of a decentralised variable gain robust controller for large-scale interconnected systems with mismatched uncertainties. The mismatched uncertainties under consideration are composed of the matched part and the mismatched one, and the proposed decentralised robust controller consists of a state feedback with a fixed gain and one with a variable gain tuned by parameter adjustment laws. Sufficient conditions for the existence of the proposed decentralised variable gain robust controller are given in terms of linear matrix inequalities (LMIs). Finally, a numerical example is illustrated to validate the proposed design procedure. 相似文献
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This paper is concerned with the tracking control problem of robotic systems perturbed by time-varying parameters, unmodelled dynamics and external force (and moment) disturbances. The upper bound of system uncertainties and disturbances is not required for controller design. Also, no limitations are assumed on the speed of variation and the magnitude of unknown parameters and perturbations. An adaptive algorithm with simplicity and universality properties is proposed to ensure robust tracking. Presenting the closed loop stability proof analytically, the tracking controller is applied to a two-link robot manipulator and the simulation results are demonstrated to show the effectiveness of the method. 相似文献
15.
Yao Yu Na Li Liang Sun Jian Liu Changyin Sun 《International Journal of Control, Automation and Systems》2020,18(2):282-292
In this paper, the output feedback consensus problem of high-order multi-agent systems with nonlinear uncertainties is researched by the robust control method. By the dimensional extension of the observation matrix, the consensus control problem is transformed into a stability problem. Then the robust controller is designed by combining the nominal controller and the robust compensator. The nominal controller can obtain desired nominal performance based on the output informations. The robust compensator, which relys on robust signal compensation technology, is order to suppress the nonlinear uncertainties. According to the proposed method, output consensus error can be guaranteed as small as desired. Finally, simulation results are given to illustrate the effectiveness of this control method. 相似文献
16.
A robust discrete terminal sliding mode repetitive controller is proposed for a class of nonlinear positioning systems with parameter uncertainties and nonlinear friction. The terminal sliding mode control (TSMC) part is designed to improve the transient characteristics of the system, as well as the robustness against parameter uncertainties, nonperiodic nonlinearities, and disturbances. The repetitive control (RC) part is then integrated to eliminate the effects of the periodic uncertainties present in the system. Moreover, a pure phase lead compensator is incorporated into the RC to improve the tracking at high frequencies. A robust stability analysis and an analysis of the finite time convergence properties of the proposed controller are also provided in this paper. Simulation testing and an experimental validation using a linear actuator system with nonlinear friction and parameter uncertainties are conducted to verify the effectiveness of the proposed controller. 相似文献
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18.
Dong Hwan Lee Jin Bae Park Young Hoon Joo Kuo Chi Lin Chan Ho Ham 《International Journal of Control, Automation and Systems》2010,8(3):636-646
In this paper, a systematic procedure to design the robust H
∞ fuzzy controller for a nonlinear active magnetic bearing (AMB) system affected by time-varying parametric uncertainties is
presented. First, the continuous-time Takagi-Sugeno (T-S) fuzzy model is employed to represent the nonlinear AMB system. Next,
based on the obtained fuzzy model, sufficient conditions are derived in terms of linear matrix inequalities (LMIs) for robust
stability and H
∞ performance of the control system. The main feature of this paper is that some drawbacks existing in the previous approaches
such as truncation errors and nonconvex bilinear matrix inequality (BMI) problem are eliminated by utilizing the homogeneous
fuzzy model which includes no bias terms in the local state space models rather than the affine one which includes bias terms.
Hence, the design method presented here will prove to be more tractable and accessible than the previous ones. Finally, numerical
simulations demonstrate the effectiveness of the proposed approach. 相似文献
19.
Baris Bidikli Erkan Zergeroglu Alper Bayrak 《International journal of systems science》2016,47(12):2913-2924
In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method. 相似文献
20.
This paper presents two novel issues: (i) digital modeling of the analog uncertain system in the presence of state and input delays and unstructured large parametric uncertainties; and (ii) digital redesign of the analog robust output tracking controller for the parametric uncertain system with state and input delays. The Newton's forward formula together with the evolutionary programming (EP) is utilized to find an equivalent discrete-time time-delayed parametric uncertain model of the continuous-time parametric uncertain system with multiple delays in both the state and input. Also, based on the EP global optima-search technique, the integration of the available analog robust controller and a parameter tuning algorithm is established to find a practically implementable "best" digital controller for the analog time-delayed uncertain system. The worst-case parameter set obtained from the analog time-delayed uncertain system with respect to the implemented "best" digital controller is searched to show the capability of the proposed robust digital controller. 相似文献